Patent US6201984B1 successfully refreshed from Google Patents.
US6201984B1
Expired / Lapsed
US
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System and method for augmentation of endoscopic surgery
Assignee: International Business Machines Corp
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Filing: 1995-01-26
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Granted: 2001-03-13
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Expires: 2015-01-26
Abstract
Abstract The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.
Inventors
- 👤 Janez Funda
- 👤 David Aruthur LaRose
- 👤 Russell Highsmith Taylor
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 13:02
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/00163; A61B1/00193; A61B1/00002; A61B1/00004; A61B1/00009; A61B1/000094; A61B1/00194; A61B1/04; A61B1/05; A61B34/00; A61B34/70; A61B34/76; A61B90/00; A61B90/10; A61B90/11; B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0275; B25J9/00; B25J9/02; B25J9/04; A61B17/00; A61B17/00234; A61B2017/00017; A61B2017/00022; A61B2017/00203; A61B34/10; A61B2034/101; A61B2034/102; A61B2034/107; A61B34/20; A61B2034/2046; A61B2034/2055; A61B2034/2065; A61B2034/2068; A61B34/74; A61B2034/742; A61B90/08; A61B2090/0813; A61B90/36; A61B2090/364; A61B2090/365; A61B90/39; A61B2090/3937; A61B2090/3945; A61B90/361; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37074; G05B2219/40; G05B2219/40418; G05B2219/40609; G05B2219/45; G05B2219/45123; G05B2219/45166
Claims Analysis
Total Claims: 58
Claim 1
Independent Claim
123 words
A surgical robotic system for use in minimally invasive surgery, the minimally invasive surgery performed at an internal surgical site of a patient body, the surgical robotic system comprising: a surgical instrument having a proximal end and a distal end, the instrument extendible distally through an incision to the internal surgical site; a robot supporting the proximal end of the instrument, the robot moving the instrument in response to motor signals; a voice recognition system for inputting spoken instructions; and a computer coupling the voice recognition system to the robot, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision.
Claim 2
Dependent Claim
123 words
A surgical robotic system for use in minimally invasive surgery, the minimally invasive surgery performed at an internal surgical site of a patient body, the surgical robotic system comprising: a surgical instrument having a proximal end and a distal end, the instrument extendible distally through an incision to the internal surgical site; a robot supporting the proximal end of the instrument, the robot moving the instrument in response to motor signals; a voice recognition system for inputting spoken instructions; and a computer coupling the voice recognition system to the robot, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision.
Claim 3
Dependent Claim
33 words
The surgical robotic system of claim 1 , wherein the surgical instrument comprises an endoscope, and further comprising a monitor coupled to the endoscope for displaying an image of the internal surgical site.
Claim 4
Dependent Claim
42 words
The surgical robotic system of claim 2 , wherein the distal end of the surgical instrument comprises a camera tip defining a camera coordinate frame, and wherein the computer calculates transformations between the camera coordinate frame and coordinate frames of the robot.
Claim 5
Dependent Claim
41 words
The surgical robotic system of claim 3 , wherein the computer generates the motor signals using the transformations so that the camera tip moves in the internal surgical site to effect an instructed change in the image shown in the display.
Claim 6
Dependent Claim
59 words
The surgical robotic system of claim 3 , wherein the camera tip defines a tip angle, and wherein the computer generates the motor signals using the transformations so that the camera tip moves in the internal surgical site to effect a change in zoom of the image shown in the display in response to a change in zoom instruction.
Claim 7
Dependent Claim
45 words
The surgical robotic system of claim 1 , wherein the first surgical instrument is any of the following: a surgical tool; a forceps; a device positioned within the patient's body for transmitting an image outside of the patient's body; a laparoscope; and a medical telescope.
Claim 8
Dependent Claim
89 words
A minimally invasive surgical robotic method comprising: inserting a distal end of a surgical instrument through an incision to an internal surgical site; manipulating a proximal end of the instrument with a robot in response to motor signals; inputting spoken instructions into a voice recognition system; generating the motor signals in response to the spoken instructions with a computer; and moving the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision with the robot in response to the motor signals.
Claim 9
Dependent Claim
89 words
A minimally invasive surgical robotic method comprising: inserting a distal end of a surgical instrument through an incision to an internal surgical site; manipulating a proximal end of the instrument with a robot in response to motor signals; inputting spoken instructions into a voice recognition system; generating the motor signals in response to the spoken instructions with a computer; and moving the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision with the robot in response to the motor signals.
Claim 10
Dependent Claim
21 words
The surgical robotic method of claim 7 , further comprising displaying an image of the internal surgical site on a monitor.
Claim 11
Dependent Claim
39 words
The surgical robotic method of claim 8 , wherein the surgical instrument comprises an endoscope, and further comprising inputting a change of image instruction and moving the endoscope with the robot so as to effect the instructed image change.
Claim 12
Dependent Claim
18 words
The surgical robotic method of claim 9 , wherein the instructed image change comprises a change in zoom.
Claim 13
Dependent Claim
26 words
The surgical robotic method of claim 10 , wherein the endoscope has a camera tip disposed at an angle relative to a shaft of the camera.
Claim 14
Dependent Claim
51 words
The surgical robotic method of claim 7 , wherein the distal end of the surgical instrument defines a distal coordinate reference frame, and further comprising calculating transformations between the distal coordinate frame and a coordinate frame of the robot with the computer and using the transformation to generate the motor signals.
Claim 15
Independent Claim
92 words
A system for positioning a surgical instrument relative to a patient's body, comprising: a robotic manipulator having at least one controlled degree of freedom; a controller controlling the robotic manipulator; an instrument holder attaching a first surgical instrument to the robotic manipulator so that the first surgical instrument can pivot about an aperture into the patient body; and a voice recognition system coupled to the controller, the voice recognition system permitting a surgeon to verbally command motions of the robotic manipulator, the instrument pivoting about the aperture in response to the commands.
Claim 16
Independent Claim
92 words
A system for positioning a surgical instrument relative to a patient's body, comprising: a robotic manipulator having at least one controlled degree of freedom; a controller controlling the robotic manipulator; an instrument holder attaching a first surgical instrument to the robotic manipulator so that the first surgical instrument can pivot about an aperture into the patient body; and a voice recognition system coupled to the controller, the voice recognition system permitting a surgeon to verbally command motions of the robotic manipulator, the instrument pivoting about the aperture in response to the commands.
Claim 17
Dependent Claim
34 words
A system for positioning a surgical instrument relative to a patient's body, as in claim 13 , wherein the voice recognition system further permits the surgeon to select commands or operating modes from menus.
Claim 18
Dependent Claim
38 words
A system for positioning a surgical instrument relative to a patient's body, as in claim 13 , further comprising a speech synthesis system to provide the surgeon with voice messages containing information about the operation of the system.
Claim 19
Dependent Claim
46 words
A system for positioning a surgical instrument relative to a patient's body, as in claim 15 , wherein the first surgical instrument is a surgical camera and the speech synthesis system provides a message to the surgeon stating information about the movement of the surgical camera.
Claim 20
Dependent Claim
54 words
A system for positioning a surgical instrument relative to a patient's body, as in claim 15 , wherein the first surgical instrument is a surgical camera and the speech synthesis system provides a message to the surgeon stating information about the movement of the surgical camera effect a zoom operation of the surgical camera.
Claim 21
Dependent Claim
126 words
A surgical robotic system for use in minimally invasive surgery performed at an internal surgical site of a patient body, the system comprising: a surgical instrument having a proximal portion and a distal end, said instrument extendable distally through an aperture in a body wall to the internal surgical site; a robotic arm supporting the proximal portion of the instrument, the robotic arm moving the instrument in response to motor signals; a voice recognition system for inputting spoken instructions; and a computer operatively coupling the voice recognition system to the robotic arm, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site while the surgical instrument pivots about the aperture.
Claim 22
Dependent Claim
126 words
A surgical robotic system for use in minimally invasive surgery performed at an internal surgical site of a patient body, the system comprising: a surgical instrument having a proximal portion and a distal end, said instrument extendable distally through an aperture in a body wall to the internal surgical site; a robotic arm supporting the proximal portion of the instrument, the robotic arm moving the instrument in response to motor signals; a voice recognition system for inputting spoken instructions; and a computer operatively coupling the voice recognition system to the robotic arm, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site while the surgical instrument pivots about the aperture.
Claim 23
Dependent Claim
39 words
The surgical robotic system of claim 18 , wherein the surgical instrument comprises an endoscope, said system further comprising a display operatively coupled to said endoscope for allowing a surgeon to view an image of the internal surgical site.
Claim 24
Dependent Claim
39 words
The surgical robotic system of claim 19 , wherein the computer generates said motor signals so that the endoscope distal end moves at the internal surgical site to effect an instructed change in the image shown in the display.
Claim 25
Dependent Claim
49 words
The surgical robotic system of claim 19 , wherein the computer generates said motor signals so that the endoscope distal end moves at the internal surgical site to effects an instructed change in zoom of the image shown in the display in response to a change in zoom instruction.
Claim 26
Dependent Claim
39 words
The surgical robotic system of any of claims 18 - 21 , wherein the voice recognition system comprises a microphone for detecting spoken instructions and a speaker for providing audible messages to a surgeon regarding operation of the system.
Claim 27
Dependent Claim
20 words
The system of claim 22 , wherein said audible messages comprise audible feedback indicating successful receipt of said spoken instructions.
Claim 28
Dependent Claim
14 words
The system of claim 22 , wherein said audible messages comprise synthesized voice messages.
Claim 29
Dependent Claim
24 words
The system of claim 22 , wherein said audible messages comprise audible feedback indicating undesired movement of the distal end of the surgical instrument.
Claim 30
Dependent Claim
94 words
A minimally invasive surgical robotic method comprising: inserting a distal end of a surgical instrument through an aperture in a body wall of a patient to an internal surgical site; manipulating a proximal portion of said instrument with a robotic arm in response to motor signals; inputting spoken instructions into a voice recognition system; generating, with a computer, said motor signals in response to said spoken instructions; and moving the robotic arm in response to the motor signals so as to move the distal end of the surgical instrument at the internal surgical site.
Claim 31
Dependent Claim
94 words
A minimally invasive surgical robotic method comprising: inserting a distal end of a surgical instrument through an aperture in a body wall of a patient to an internal surgical site; manipulating a proximal portion of said instrument with a robotic arm in response to motor signals; inputting spoken instructions into a voice recognition system; generating, with a computer, said motor signals in response to said spoken instructions; and moving the robotic arm in response to the motor signals so as to move the distal end of the surgical instrument at the internal surgical site.
Claim 32
Dependent Claim
30 words
The method of claim 26 , wherein said surgical instrument comprises an endoscope, the method further comprising displaying an image of the internal surgical site for perception by a surgeon.
Claim 33
Dependent Claim
30 words
The method of claim 27 , further comprising inputting a change of image instruction and moving the endoscope with the robotic arm so as to effect the instructed image change.
Claim 34
Dependent Claim
16 words
The method of claim 28 , wherein the instructed image change comprises a change in zoom.
Claim 35
Independent Claim
21 words
The method of any of claims 26 - 29 , further comprising providing audible messages containing information about the robotic surgery.
Claim 36
Dependent Claim
20 words
The method of claim 30 , wherein said audible messages comprise audible feedback indicating successful receipt of said spoken instructions.
Claim 37
Dependent Claim
14 words
The method of claim 30 , wherein said audible messages comprise synthesized voice messages.
Claim 38
Dependent Claim
24 words
The method of claim 30 , wherein said audible messages comprise audible feedback indicating undesired movement of the distal end of the surgical instrument.
Claim 39
Independent Claim
121 words
A system for positioning an endoscopic surgical instrument relative to a surgical site within a patient's body, comprising: a robotic manipulator having at least one controlled degree of freedom; a controller that is adapted to be capable of controlling the robotic manipulator; an instrument holder for coupling said surgical instrument to said robotic manipulator; and a voice recognition command input system operatively coupled to the controller, the voice recognition system permitting a surgeon to specify desired motion of the surgical instrument to the controller, such that the robotic manipulator moves said instrument to a position relative to the patient's body, as specified by the surgeon using the command input system, by pivoting the instrument about an aperture into the patient's body.
Claim 40
Independent Claim
121 words
A system for positioning an endoscopic surgical instrument relative to a surgical site within a patient's body, comprising: a robotic manipulator having at least one controlled degree of freedom; a controller that is adapted to be capable of controlling the robotic manipulator; an instrument holder for coupling said surgical instrument to said robotic manipulator; and a voice recognition command input system operatively coupled to the controller, the voice recognition system permitting a surgeon to specify desired motion of the surgical instrument to the controller, such that the robotic manipulator moves said instrument to a position relative to the patient's body, as specified by the surgeon using the command input system, by pivoting the instrument about an aperture into the patient's body.
Claim 41
Dependent Claim
133 words
A surgical robotic system for use in minimally invasive surgery performed at an internal surgical site of a patient body, the system comprising: a surgical instrument having a proximal portion and a distal end, said instrument extendable distally through an aperture in a body wall to the internal surgical site; a robotic arm supporting the proximal portion of the instrument, the robotic arm moving the instrument in response to motor signals; a computer operatively coupling the robotic arm to a surgeon input device, the computer generating the motor signals in response to a surgeon's input to move the distal end of the surgical instrument at the internal surgical site within the patient body; and a voice synthesis system for providing audible information to a surgeon regarding operation of the system during the surgery.
Claim 42
Dependent Claim
133 words
A surgical robotic system for use in minimally invasive surgery performed at an internal surgical site of a patient body, the system comprising: a surgical instrument having a proximal portion and a distal end, said instrument extendable distally through an aperture in a body wall to the internal surgical site; a robotic arm supporting the proximal portion of the instrument, the robotic arm moving the instrument in response to motor signals; a computer operatively coupling the robotic arm to a surgeon input device, the computer generating the motor signals in response to a surgeon's input to move the distal end of the surgical instrument at the internal surgical site within the patient body; and a voice synthesis system for providing audible information to a surgeon regarding operation of the system during the surgery.
Claim 43
Dependent Claim
39 words
The surgical robotic system of claim 35 , wherein the surgical instrument comprises an endoscope, said system further comprising a display operatively coupled to said endoscope for allowing a surgeon to view an image of the internal surgical site.
Claim 44
Dependent Claim
49 words
The surgical robotic system of claim 36 , wherein the computer generates said motor signals so that the endoscope distal end moves at the internal surgical site to effect an instructed change in zoom of the image shown in the display in response to a change in zoom instruction.
Claim 45
Dependent Claim
29 words
The surgical robotic system of any of claims 35 - 37 , wherein the input device comprises a voice recognition system comprising a microphone for detecting spoken input instructions.
Claim 46
Dependent Claim
39 words
The surgical robotic system of claim 36 , wherein the computer generates said motor signals so that the endoscope distal end moves at the internal surgical site to effect an instructed change in the image shown in the display.
Claim 47
Dependent Claim
33 words
The system of claim 35 , wherein said audible information comprises information concerning the degree of movement of the distal end of said instrument in response to the surgeon's most recent input command.
Claim 48
Dependent Claim
30 words
The system of claim 35 , wherein said audible information comprises information concerning a location of the distal end of said instrument with respect to an anatomical feature of interest.
Claim 49
Dependent Claim
23 words
The system of claim 35 , wherein said audible information comprises information indicating undesired movement of the distal end of the surgical instrument.
Claim 50
Independent Claim
79 words
An apparatus for moving a surgical instrument, comprising: a robotic arm assembly coupled to said surgical instrument; an input device that receives an input voice command and communicates a corresponding signal to a computer, said input voice command indicating a desired movement of said instrument, said computer providing a movement command, corresponding to said signals to move said assembly so that said surgical instrument is moved according to said desired movement by pivoting the surgical instrument at an aperture.
Claim 51
Independent Claim
79 words
An apparatus for moving a surgical instrument, comprising: a robotic arm assembly coupled to said surgical instrument; an input device that receives an input voice command and communicates a corresponding signal to a computer, said input voice command indicating a desired movement of said instrument, said computer providing a movement command, corresponding to said signals to move said assembly so that said surgical instrument is moved according to said desired movement by pivoting the surgical instrument at an aperture.
Claim 52
Dependent Claim
29 words
An apparatus for moving a surgical instrument, as in claim 43 , wherein a voice recognition system further permits the surgeon to select commands or operating modes from menus.
Claim 53
Dependent Claim
31 words
An apparatus for moving a surgical instrument as in claim 43 , wherein a speech synthesis system provides the surgeon with voice messages containing information about the operation of the system.
Claim 54
Dependent Claim
40 words
An apparatus for moving a surgical instrument, as in claim 43 , wherein the surgical instrument is a surgical camera and a speech synthesis system provides a message to the surgeon stating information about the movement of the surgical camera.
Claim 55
Dependent Claim
49 words
An apparatus for moving a surgical instrument, as in claim 45 , wherein the surgical instrument is a surgical camera and a speech synthesis system provides a message to the surgeon stating information about the movement of the surgical camera to effect a zoom operation of the surgical camera.
Claim 56
Dependent Claim
49 words
An apparatus for moving a surgical instrument as in claim 43 , wherein the surgical instrument comprises any one of the following: a surgical tool; a forceps; a device positioned within the patient's body for transmitting an image outside of the patient's body; a laparoscope; and a medical telescope.
Claim 57
Dependent Claim
32 words
The system of claim 43 , wherein said computer, after receiving said signal, compares said signal with at least one predetermined command signal and verifies that said input voice command is acceptable.
Claim 58
Dependent Claim
25 words
The system of claim 43 , further comprising an audio device for providing a user with a message confirming receipt of the input voice command.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-03-12 | 2004-09-11 | 2005-03-13 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-03-12 | 2008-09-11 | 2009-03-13 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-03-12 | 2012-09-11 | 2013-03-13 | $7700.00 | Window Closed / Lapsed |